足回り動かすためのライブラリ
使用例
#include "scrp_slave.hpp" #include "core.hpp" #include "mbed.h" ScrpSlave sendpwm(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800); Robot AKASHIKOSEN(50.8,25.4,322.5,259.75); Core RBT(&AKASHIKOSEN,OMNI4,0.02); int main(){ /*--------------SETUP--------------*/ AKASHIKOSEN.setCWID(0,1,2,3); AKASHIKOSEN.setSWID(4,5,6,7); RBT.addENC(PC_4,PA_13,512,4,0); RBT.addENC(PA_14,PA_15,512,4,1); RBT.addENC(PC_2,PC_3,512,4,2); RBT.addENC(PC_10,PC_11,512,4,3); RBT.addENC(PA_7,PA_6,512,4,4); RBT.addENC(PA_9,PA_8,512,4,5); RBT.addENC(PC_1,PC_0,512,4,6); RBT.addENC(PC_5,PA_12,512,4,7); RBT.START(); /*--------------LOOP--------------*/ Position pos; while(true){ pos = RBT.getStatus(); printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta); RBT.LOOP(); } }
Diff: core.hpp
- Revision:
- 10:f434b6848059
- Parent:
- 6:87fd489a9801
diff -r 489046c1e624 -r f434b6848059 core.hpp --- a/core.hpp Tue Oct 26 15:55:15 2021 +0000 +++ b/core.hpp Thu Oct 28 10:58:56 2021 +0000 @@ -8,6 +8,7 @@ #include "motor.hpp" #include "encoder.hpp" #include "pid.hpp" +#include "imc.hpp" #include "robot.hpp" #include "position.hpp" @@ -39,6 +40,7 @@ Motor* addMOT(PinName plus,PinName minus,int period,int id); void addENC(PinName plus,PinName minus,int resolution,int mode,int id); PID* addPID(double Kp,double Ki,double Kd,int id); + IMC* addIMC(double K,double T,int id); void setVelocity(double Vx,double Vy,double Vw); void setPWM(double pwm,int id); void START(); @@ -50,6 +52,7 @@ std::vector<Motor*> Mots; std::vector<Encoder*> Encs; std::vector<PID*> PIDs; + std::vector<IMC*> IMCs; ScrpSlave* scrp; Core(Robot* robot,ScrpSlave* scrp,int mode,double dt); void sendPWM(double pwm,int id);